OpenSYMORO: An open-source software package for Symbolic Modelling of Robots

被引：0
|
作者：
Khalil, Wisama [1 ]
Vijayalingam, Aravindkumar [1 ]
Khomutenko, Bogdan [1 ]
Mukhanov, Izzatbek [1 ]
Lemoine, Philippe [1 ]
Ecorchard, Gael [1 ]
机构：
[1] Ecole Cent Nantes, IRCCyN UMR CNRS 6597, F-92101 Nantes 3, France
来源：
2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2014年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents OpenSYMORO, an open-source software package for symbolic modelling of robots. This software package is based on previous work detailed in [1]. However, the package in [1] was developed using Wolfram Mathematica and hence required Mathematica license for use. OpenSYMORO is mainly developed using the Python programming language and the source code will be publicly available. The new version provides support to model robots with flexible joints, floating base and wheeled mobile robots. This is in addition to supporting serial, tree structure and closed-loop robots. A visualisation tool to view the structure of the robot is also included.
引用
收藏
页码：1206 / 1211
页数：6
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